Adaptive robust output regulation control design

In this paper we consider controller design for robust output tracking and disturbance rejection for linear distributed parameter systems. In output regulation the frequencies of the reference and disturbance signals are typically assumed to be known in advance. In this paper we propose a new control design for robust output regulation for signals with unknown frequencies. Our controller is based on a time-dependent internal model where the frequencies are updated based on an adaptive estimator. We use the main results to design a controller for output tracking of an electromagnetic system which models magnetic drug delivery.